空间机器人

ABSTRACT In this dissertation, the architecture of the robot model machining system is introduced, and the surface reconstruction, triangulating the discrete surface, process planning and path planning in the machining system is deeply and systematically investigated.

本论文对机器人模型加工系统的组成结构、模型加工中的曲面重建、空间离散点曲面的三角划分以及模型加工的工艺规划和路径规划等方面，进行了系统、深入的研究。

Most of our housework is dome by robots so that we can have more time for our hobbies.

生活方面更多的生活空间，更多的闲暇时间，有机器人可以帮助做大部分的家务

Based on the triangulation of the state space of a robot, a dual graph was constructed following the target attractive principle, and then a path planning algorithm was presented to find a sequence of adjacent triangles that were traversed by the shortest path.

对机器人的状态空间进行三角划分，根据目标吸引原理来建立其对偶图，针对对偶图提出路径规划算法得到最短路径穿越的三角形序列。

However, the underwater is more execrable compared with the land or space, and more dangerous for human. So as a replacer underwater robot is being used in practical operations more and more.

然而，水下环境与陆地和空间环境相比更加恶劣，对人类的威胁更大，因此水下机器人作为人的替代者，正在越来越多地在实际水下操作中应用。

In this algorithm the model of robot's workspace was established with grid method and foldback iterating was used to search the aims by simulating the foraging behavior of ant colony.

该算法使用栅格法对机器人的工作空间进行建模，通过模拟蚂蚁的觅食行为，采用折返的迭代方式对目标进行搜索。

Therefore, the robot can be said is a biological function of three-dimensional space coordinates machines.

因此，可以说机器人是具有生物功能的空间三维坐标机器。

Instantaneous motions of the end effector of the typical industrial serial 6-DOF and 5DOF robots are also studied using reciprocal screw theory, The constrained and permitted motions at special configurations are given. Furthermore, the satisfied conditions for the special configurations are discussed, and in the reference coordinate system general expressions of the reciprocal screw and existed motion screw and the subspaces of the permitted rotational axes are obtained under all circumstances at special configurations.

本文中还用反螺旋理论研究了六自由度和五自由度工业机器人的瞬时运动，给出了它们在正常位形和特殊位形下的受约束的运动和存在的运动，以及它们在所有运动参数的不同组合下的反螺旋及存在运动螺旋系的一般表达式和转动轴线存在的子空间。

This platform was a working-space monitoring mechanism of parallel robot based on circular guide rail.

它是一种基于圆形导轨的并联机器人工作空间监测机制。

Based on the proposed model, this thesis also presents the studies of control problem of the humanoid robot in joint space.

基于所建立的模型，本文研究了拟人机器人在关节空间内的控制问题。

We discover that under a general configuration the twist system of this mechanism belongs to the seventh special three-system, and all the twist axes are distributed on a hyperbolic paraboloid that is special and unusual and rarely studied. Under original configuration it belongs to the fourth special three-system.

我们发现：该机器人在一般位形下，它的所有运动螺旋轴线在空间分布的二次曲面是比较特殊的，罕见的，是过去理论上研究很少的双曲抛物面，属于第七种特殊三系，在起始位置时属于第四种的特殊三系。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。